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Mobile robots range from the teleoperated Sojourner on the Mars
Pathfinder mission to cleaning robots in the Paris Metro. Introduction to
Autonomous Mobile Robots offers students and other interested readers an
overview of the technology of mobility -- the mechanisms that allow a mobile
robot to move through a real world environment to perform its tasks --
including locomotion, sensing, localization, and motion planning. It discusses
all facets of mobile robotics, including hardware design, wheel design,
kinematics analysis, sensors and perception, localization, mapping, and robot
control architectures.

The design of any successful robot involves the
integration of many different disciplines, among them kinematics, signal
analysis, information theory, artificial intelligence, and probability theory.
Reflecting this, the book presents the techniques and technology that enable
mobility in a series of interacting modules. Each chapter covers a different
aspect of mobility, as the book moves from low-level to high-level details.
The first two chapters explore low-level locomotory ability, examining robots'
wheels and legs and the principles of kinematics. This is followed by an
in-depth view of perception, including descriptions of many "off-the-shelf"
sensors and an analysis of the interpretation of sensed data. The final two
chapters consider the higher-level challenges of localization and cognition,
discussing successful localization strategies, autonomous mapping, and
navigation competence. Bringing together all aspects of mobile robotics into
one volume, Introduction to Autonomous Mobile Robots can serve as a
textbook for coursework or a working tool for beginners in the
field.

Roland Siegwart is Professor and Head of the Autonomous Systems
Lab at the Swiss Federal Institute of Technology.

Illah R. Nourbakhsh
is Associate Professor of Robotics in the Robotics Institute, School of
Computer Science, at Carnegie Mellon University.